Determination method for dynamic parameters of marine movement mathematical model |
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IPC classes for russian patent Determination method for dynamic parameters of marine movement mathematical model (RU 2442718):
                   
 Method of operating industrial plant, and industrial plant control system / 2440596
Proposed method controlling certain number of plant operating parameters and process component parameters and stored in memory unit. Note here that fatigue index inherent in current state of component fatigue is defined. Note also that forecast fatigue is defined. Besides, component with maximum forecast fatigue is identified as drive component, while for multiple preset changes of states, defined is drive component forecast fatigue. Mind that proceeding from certain forecast fatigue values, one of state changes is selected and initiated.
 Method to search for faulty block in dynamic system / 2439648
Response of an admittedly faultless system is registered at a control interval in control points, several integral estimates are determined for output signals of the system for various integration parameters, the produced integral estimates of output signals are registered; several deviations are determined in integral estimates of model signals for each of control points received as a result of trial deviations of block parameters, for this purpose a trial deviation is introduced alternately in each unit of a dynamic model; deviations of model signal integral estimates are determined, produced as a result of trial deviations of structural block parameters; rated values are determined for deviation of integral estimates of model signals, produced as a result of trial deviations of appropriate block parameters; a system with rated characteristics is substituted with a controlled one, integral estimates of controlled system signals are determined for control points and several integration parameters, deviations are determined for integral estimates of controlled system signals for control points from rated values, rated values are determined for deviations of integral estimates of controlled system signals.
 Method to search for faulty block in continuous dynamic system / 2439647
As opposed to the available method of searching for a faulty block in a continuous dynamic system, elements of topological links are determined for each block included into the composition of the system for each control point Pji, j=1, …, k; j=1, …, m, elements Pji are determined from multiple values {-1,0,1}, the value -1 is determined, if the sign of signal transfer from the output of the i block to the j control point is negative, the value 0 is determined, if transfer of a signal from the output of the i block to the j control point is not available, the value 1 is determined, if the signal of signal transfer from the output of the i block to the j control point is positive, rated values are determined for elements of the vector of topological links for each block, diagnostic criteria are calculated, and using minimum value of a diagnostic criterion, the defect is determined.
 Parameter control method of guided missile rotating about angle of roll, and automated control system for its implementation / 2438098
Parameter control method of guided missile rotating about angle of roll involves assignment of signals simulating the commands and rotation of missile about the roll angle, their supply to missile guidance control, comparison of current values of control commands at the outlet of control equipment with pre-set simulating values and evaluation as per comparison results of the compliance of controlled parameters with the specified ones, at which the simulating signal of missile rotation about roll angle is shaped in the form of two pulse signals. Pulse signals are offset relative to each other through 90°. At the required period of the beginning of control process there generated is the signal simulating the beginning of the guided missile flight, which is synchronised with the first front of one of two pulse signals, which corresponds to the beginning of shaping of the pitch command. Synchronised signals are allowed to shape pulse signals at the output of signal simulator of missile rotation about roll angle from the beginning of pitch command shaping; at that, from the beginning of signal shaping or its synchronisation there performed is time count during which the parameter control of guided missile is performed. Also, system for method's implementation is described.
 Method of searching for faulty unit in dynamic system / 2435189
Reaction of a good system fjnom(t) j=1,2,…,k is recorded on the interval t∈[0, TK] in k control points; integral estimations of output signals Fjnom(α), j=1, …,k of the system are determined, estimates of output signals Fjnom(α), j=1, …,k obtained from integration are recorded, integral transforms of dynamic characteristics of the model are determined for each of the k control points obtained from sample deviation of parameters of each of m units, deformations of integral transforms of model dynamic characteristics are determined, the system is replaced with nominal characteristics of the controlled system, an analogue test signal x(t) is transmitted to the input of the system, integral transforms of dynamic characteristics of the controlled system for k control points Fj(α), j=1,…, k for parameter α are determined, deviation of integral transforms of dynamic characteristics of the controlled system for k control points from nominal values ΔFj(α)=Fj(α)-Fjnom(α), j=1,…,k, is determined, normalised deviation values of integral transforms of dynamic characteristics of the controlled system are determined, diagnostic features are determined, and a faulty unit is determined by the minimum diagnostic feature.
 System for determining signal cycle breakdown configuration in flowmetre (versions), method of determining signal cycle breakdown configuration in flowmetre and machine-readable data medium / 2432594
Disclosed are inventions where cycle breakdown configuration during transmission and reception of signals in an acoustic flowmetre is determined, wherein transmission is carried out between corresponding converters of a group of pairs of converters. The propagation time of acoustic signals between corresponding converters of the group of pairs of converters is measured. A set error function values is calculated (each value of the error function is characteristic for the specific cycle breakdown configuration when measuring propagation time of acoustic signals) and the cycle breakdown configuration is determined using, at least partly, the set of error values.
 Device for measuring and monitoring relay and electric interlocking unit parameters / 2432593
Proposed engineering solution which employs feedback enables to correct measurements during each measurement without recourse to calibrating all channels. A stable feedback channel based on elements with highly stable parameters is sufficient. The technical result is achieved owing to that the device has a feedback channel which is included in the circuit between computers through an interface which is connected to the digital-to-analogue converter of the feedback, at the output of which there is an amplifier which is connected to a multichannel switch.
 Method for determining service life of component of power plant / 2431176
There proposed is method for determining service life of component of power plant with the following stages: determination of the first performance value for service life of power plant component at constant capacity; determination of the second performance value for service life of power plant component at varying capacity; determination of the first statement of equivalence, by means of which the pre-set operating mode of power plant component at constant capacity is represented depending on the number of the first performance values; determination of the second statement of equivalence, by means of which the pre-set operating mode of power plant component is represented depending on the number of the second performance values; determination of the number of the first and the second performance values obtained during actual operating mode of power plant component; determination of sum of the number of the first and the second performance values; taking the decision on service life on the basis of the determined sum.
 Apparatus for determining optimum programmes for system maintenance / 2429542
Device has a memory unit, two multipliers, three adders, a nonlineartity unit, a time sensor, four delay elements, a comparator unit, two dividers, a flip flop, four switches, a shift register, three rectifier diodes, an OR circuit, two subtractors, a monostable multivibrator, a memory element and an integrator.
 Method of fault finding in continuous system dynamic unit / 2429518
Known good system response at check intervals in check points is registered. Integral estimates of system output signals are defined and registered. Integral transforms of model dynamic characteristics are defined for each check point. Said output signal integral estimates are defined to determine deformations of model signal integral estimates. Normalised deformation of model signal integral estimates are defined. System with rated characteristics is replaced by controlled system. Integral estimates of controlled system signals are defined for control points. Deviation of controlled system signal integral estimates are defined. Normalised deviation of controlled system signal integral estimates is defined to calculate magnitudes of diagnostic indications.
 Determination method for dynamic parameters of marine movement mathematical model / 2442718
FIELD: ship navigation. SUBSTANCE: invention refers to ship navigation and can be used for forecasting the ship movements in the course of maneuvering. The fore and backward points are conditionally used. The fore and backwards points are located on the centerline plane of the ship. On a real time basis the coordinates of the fore and backward points are measured. Measurement of the coordinates is fulfilled with the help of the static shear stress receivers and with differential corrections. On the basis of the coordinate measurement results the current values of kinematic movement parameters are determined: linear speeds of the fore F (υf) and backward A (υa) points and their longitudinal (υfx, υax) and lateral (υfy, υay) components in the moving coordinates ZX0Y connected with the ship; longitudinal centre of the rotation (x0) in the moving coordinates ZX0Y connected with the ship; projection of the linear speed vector in the centre of gravity on the y axis 0Y (υy); linear speed of the ship centre of gravity (υ); curvature of the gravity path (R); angular rate of the ship (ω). The obtained results are used for calculation of the current values of the dynamic parameters of the marine movement mathematical model. On the basis of the mathematical model computer modeling is performed in order to forecast the ship movements in the course of maneuvering. EFFECT: improvement of the accuracy of forecasting of the ship movements in the course of maneuvering on the basis of an adequate mathematical model of its travel. 3 cl, 1 dwg  Method of defining ship mathematical model hydrodynamic parameters / 2493048
Invention relates to navigation and can be used for forecasting ship manoeuvres. Proposed method comprises application of ship motion mathematical model and two fore and aft points F and A points, respectively, spaced apart over the centre plane length, Defining current coordinates of ship motion kinematic parameters in moving coordinate system ZX0Y to define current hydrodynamic parameters of ship mathematical model and to execute computer simulation of the basis of the latter. Moving coordinate system ZX0Y is related to the ship. Acceleration transducers are used to define in real time the current magnitudes of lengthwise, crosswise and angular accelerations of fore and aft points F (wfx1, Wfy1, ε) and A (wax1, Way1, ε) in fixed coordinate system X101Y1. Said magnitudes are used to define current magnitudes of ship motion kinematic parameters.
 Method for determination of crosswise hydrodynamic force and its moment in ship complex maneuvering / 2509032
Invention relates to control over ship course in complex maneuvering at mooring, dynamic position or drifting. Proposed method consists in that prior to performing complex maneuvering, ship rotates under effects of active control means, for example, lateral thrusting propeller. Note here that ship angular ω and spinning moment Mpr produced by lateral thrusting propeller are calculated. Angular speed ω and spinning moment Mpr are used to define hydrodynamic factor c2 and transverse component of hydrodynamic force Yβ, formed at ship hull in its motion with the help of log and formula: Yβ=Cyβ0,5ρυ2Fdp, here C yβ≅c2, ρ is water bulk density; υ is ship linear speed; Fdp is reduced area of centerline buttock.
 Method for determination of failed transducer in excess system / 2244954
The method is based on a periodic check-up of relation between the measured parameters of motion characterizing the correct operation of the transducers, fixation of the moment of failure of the relation, comparison of the readings of the transducers at this moment and at the moment preceding the moment of disturbance of the relation, and determination of the failed transducer by the results of the comparison.
 Automated monitoring system / 2248028
System includes control unit, unit for calling testing programs, coupling unit, measuring unit, test stimulation unit, power sources, unit for distributing signals, memory unit, N matching units, N testing program units. Each testing-program unit has evaluation circuit and two memory devices.
 Device for check-up of tram and trolleybus electric apparatuses / 2248582
Current in the current source is fed to the current winding of the current relay from the rectifier via a key, choke, shunt. The device uses a pulse-width modulator that controls the keys, slowly varying voltage is applied to the modulating input of the pulse-width modulator that is preliminarily modulated by the rectifier ripple voltage. Besides, use is made of a sample-release circuit of operate (release) currents and voltages. The signals from these circuits are fed to indicators via analog-to-digital converters.
 Method and device for positioning actuator / 2250485
Method comprises determining variations of the parameter during acceleration and deceleration of the actuator. The device comprises generator and OR-NOT unit, the inputs of which are connected with the outputs of the relay. The output of the relay is connected with the input of the generator.
 Computer-based instrumentation / 2250565
Proposed equipment includes personal computer, multiplexing switch, circuit checkup unit, control unit, multichannel comparison unit, virtual standard, switching unit, output signal shaper, multiplexer, and normalizing unit that has voltage meter and circuit meter.
 Device for controlling quality of communication line of data transfer channel / 2251723
As a source of standard signal not separate generator of test signal according to known code structure is used, but a component of modem, to provide for substantial simplification of process under unfavorable conditions.
 Automated control and diagnostic complex (variants) / 2257604
First variant of complex includes control computer, mating block, commutator, local data exchange main, tests forming block, logical analyzer, signature analyzer, synchronization block, digital oscillographs block, special form signals programmed generators block, programmed power-sources block. Second variant of complex additionally includes block for forming high-frequency test signals and block for measuring high-frequency signals.
 Digital identifier of accumulators charge parameters / 2258952
Device has first and second analog-digital converters, first and second coefficients forming blocks, first and second multiplication blocks, counter, first and second integrator, control effect forming device, division block, buffer and registering block, while coefficients forming blocks are made in form of digital filters and all remaining blocks of device are made digital.
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FIELD: ship navigation. SUBSTANCE: invention refers to ship navigation and can be used for forecasting the ship movements in the course of maneuvering. The fore and backward points are conditionally used. The fore and backwards points are located on the centerline plane of the ship. On a real time basis the coordinates of the fore and backward points are measured. Measurement of the coordinates is fulfilled with the help of the static shear stress receivers and with differential corrections. On the basis of the coordinate measurement results the current values of kinematic movement parameters are determined: linear speeds of the fore F (υf) and backward A (υa) points and their longitudinal (υfx, υax) and lateral (υfy, υay) components in the moving coordinates ZX0Y connected with the ship; longitudinal centre of the rotation (x0) in the moving coordinates ZX0Y connected with the ship; projection of the linear speed vector in the centre of gravity on the y axis 0Y (υy); linear speed of the ship centre of gravity (υ); curvature of the gravity path (R); angular rate of the ship (ω). The obtained results are used for calculation of the current values of the dynamic parameters of the marine movement mathematical model. On the basis of the mathematical model computer modeling is performed in order to forecast the ship movements in the course of maneuvering. EFFECT: improvement of the accuracy of forecasting of the ship movements in the course of maneuvering on the basis of an adequate mathematical model of its travel. 3 cl, 1 dwg
The invention relates to the field of navigation and can be used to predict the motion of a vessel at high speed. There is a method of determining parameters of the mathematical model of the motion of the ship (U.S. Pat. Of the Russian Federation No. 2197016, publ. 20.09.2002), namely, that in the case of small deviations steering measure the angular velocity of the ship and begin to integrate it over time to measure the travel angle, and remember to get the value of the angle of the course summarize both signals at the angle of the rudder is greater than the specified value measure of the phase coordinates of the condition of the vessel, which use the rudder angle, the angular velocity of the vessel, path angle and drift angle, which is formed in the form of an algebraic sum of track angle and the angle of the course, remember them in the current time, served to the input of electronic models of the motion of the vessel, forming the difference of the measured angular the speed of the vessel with the resulting e-model signal of the angular velocity of the vessel, forming the difference of the calculated signal angle of drift and signal drift angle obtained at the output of the electronic model of ship motion, form modules of these differences and minimize them by modifying the first coefficient of the mathematical model of ship motion in the electronic model of the motion of the ship, after minimization of the modules of the differences of the modified value of the first coefficient of the mathematical model of the motion of the vessel is fixed in the electronic model of the motion of the ship, the generated modules are differences again minimize by changing the second factor is the mathematical model of the motion of the ship, after minimization of the modules of the differences of the changed value of the second coefficient of the mathematical model of the motion of the vessel is fixed in the electronic model of the motion of the ship and repeat the adjustment process, third, fourth, ... the last factor mathematical model of the motion of the ship. The disadvantage of this method is that the parameters of the mathematical model of ship motion are defined not as a lump sum, and in turn that, firstly, makes unacceptably long process of determination of the model parameters (the number depends on the degree of adequacy of mathematical models and increases with its growth, may be equal to 10-15 or more), secondly, the definition under consideration at the moment parameters previously defined parameters, for various reasons, may change[1], [2], [3], [4], [5]. Stretched in time procedures for determining the parameters of the mathematical model of the motion of the ship causes loss of the adequacy of the greater part of their values at a given point in time, which leads eventually to the inadequacy of the mathematical model of the motion of the ship, and therefore it cannot be used to correctly predict the movement of the vessel when running man is varovanie. There is a method of experimental determination of the coefficients of the mathematical model of the motion of the vessel (U.S. Pat. Of the Russian Federation No. 2151713, publ. 27.06.2000), based on usage measured using a satellite navigation system signal lateral drift, e-model, the full mathematical model of the motion of the ship, and the use of two-dimensional criterion variables with weighting factors, which is necessary to adjust the parameters. However, the method does not allow to accurately determine the coefficients of the mathematical model of the motion of the vessel that is associated with having a rather rough value of the current angle of drift. In addition, the method is the same drawback, that of patent No. 2197016, which in turn but not in simultaneous determination of the parameters of the mathematical model of the motion of the ship. This method of experimental determination of the coefficients of the mathematical model of the motion of the vessel closest to the proposed and adopted for the prototype. The technical result, which is aimed by the invention consists in the simultaneous determination of all parameters of the mathematical model of ship motion in continuous mode and, consequently, improve the accuracy of predicting the motion of the vessel in carrying out maneuvers ispolzovaniem modeling on the basis of an adequate mathematical model of the motion of the ship. To achieve the technical result in the method for determining the hydrodynamic parameters of the mathematical model of the motion of the ship, including the use of electronic models of the motion of the vessel, the measurement of the coordinates of the vessel using a satellite navigation system (SNS), use two spaced apart along the length of the median plane (DP) vessel fore and aft points, the coordinates of which are used as coordinates of the vessel and used to determine the current values of the kinematic parameters of the movement of the ship: linear velocities of the nasal F (υfand aft A (υandpoints and their longitudinal (υfx, υax) and transversal components (υfy, υAU) in the moving coordinate system ZX0Y associated with the vessel; the abscissa of the center of rotation (x0) in the moving coordinate system ZX0Y associated with the vessel; projection of the vector of linear velocity at the center of gravity (CG) on the transverse axis 0Y (υy); - the linear velocity of the center of gravity of the vessel (υ); the radius of curvature of the trajectory of the CG of the vessel (R); angular speed (ω); based on the values of kinematic parameters compute the current values of the hydrodynamic parameters of the mathematical model of the motion of the ship, based on the latest perform a computer simulation of the motion of the ship. In addition, the measurement is of oordinate fore and aft points carried out with differential corrections in real time, the longitudinal and transverse components of the linear velocity of the bow (υfx, υfy) and aft (υax, υAUpoints of the vessel in the moving coordinate system ZX0Y associated with the vessel, calculated taking into account the impact on the vessel during maneuvering. Due to the presence of these signs of possible simultaneous determination of parameters of the mathematical model of the motion of the ship, which allows high accuracy to predict any maneuver prior to its execution. The proposed method for the determination of the hydrodynamic parameters of the mathematical model of the motion of the vessel is illustrated in the drawing, is represented in the figure. The method consists in the following. Mathematical model of the motion of the vessel used for computer modeling in forecasting the movement of the vessel in the process of maneuvering, is a system of differential equations, the General form of which, given the known conventions[1], [2], [3], [4], [5] the following:
where υx, υyprojection of the vector of linear velocity at the CG of the vessel in the longitudinal X and transverse 0Y axis, respectively; Ψ - direction of the vessel; X1, Y1the CCW is dinati CG vessel in the fixed coordinate system X 101Y1; C1C2C3, ... the parameters of the mathematical model, the numerical values of which are determined in dependence on the geometric elements of the immersed part of the hull, they are constant when the load status of the last[3], [4], [5]. During the movement of the vessel using SNA with differential corrections determine the coordinates of the nasal (x1f, y1f) and aft (x1A, y1Apoints of the vessel in the fixed coordinate system X101Y1and calculated longitudinal and transverse components of the linear velocity of the bow (υfx1, υfy1) and aft (υax1, υay1points with known dependencies:
Next, calculate the longitudinal and transverse components of the linear velocity of the bow (υfx, υfy) and aft (υax, υaypoints of the vessel in the moving coordinate system ZX0Y associated with the vessel, taking into account the impact on the vessel during maneuvering:
where υst- flow rate; qst- the direction of flow. Obviously, Thu the longitudinal component of the linear velocity of the vessel at any given point, located on the APS will have one value, so we may assume that
Using the values of the abscissa of the nasal point in the moving coordinate system ZX0Y (xf) and the abscissa feed point in the same coordinate system (xand), as well as transverse components of the linear velocity in the forward (υfy) and aft (υAU) points identified using dependency (3)calculated by the abscissa of the center of rotation of the vessel (Fig.) x0[3], [4], [5] according to the formula:
The transverse component of the linear velocity at the CG of the vessel is determined by the formula obtained from Fig., namely:
Determine the value of the linear velocity at the CG of the vessel, using dependency
and the radius of curvature of the trajectory of the CG of the vessel by the formula
Known values of radius R and velocity υ allow to calculate the angular speed of the vessel, ie,
The values of the coefficients C1C2C3, ... I hope only when the status of the loading of the ship[1], [2], [3], [5]. Because the state of loading of the ship in the process of maneuvering does not change, the values of C1C2C3, ... are taken to be constant, calculated at the time of the last change with the situation of loading of the ship. So, determine all hydrodynamic parameters of the mathematical model of the motion of the ship, included in the right hand sides of the differential equations (1). By calculating the right side of equations (1), at any given point in time to calculate the values of the parameters characterizing the movement of the vessel while performing the maneuver, namely υx, υy, ω, ψ, x1x2that allows us to predict any maneuver to implementation using the methods of computer simulation. Literature 1. Bassin A.M. Propulsion and handling of ships / Ammain. - M.: Transport, 1967. - 255 S. 2. Vasiliev A.V. Controllability of the courts: textbook. manual / Avecilla. - Leningrad: Sudostroenie, 1989. - 328 S. 3. Hoffman A.D. Propulsion and steering complex and maneuvering of the vessel: a Handbook / Adimn. - Leningrad: Sudostroenie, 1988. - 360 C. 4. Sobolev, GV Handling of ship automation and navigation / Howable. - Leningrad: Sudostroenie, 1976. - 478 S. 5. A guide to theory of the ship. 3 so Vol.3: the Controllability of the displacement vessels. Hydrodynamics of vessels with dynamic-support / edited Aigosthena. - Leningrad: Sudostroenie, 1985. - 544 S. 1. The way to determine hydrodynamic parameters of the mathematical model of the motion of the ship, including the use of electronic models of the motion of the vessel, the measurement of the coordinates of the vessel using the Mnichov satellite navigation system (SNS), characterized in that use two spaced apart along the length of the median plane (DP) vessel fore and aft points, the coordinates of which are used as coordinates of the vessel upon which to determine the current values of the kinematic parameters of the movement of the ship: 2. The method according to claim 1, characterized in that the measurement of the coordinates of the bow and stern points carried out with differential corrections in real time. 3. The method according to claim 1, characterized in that the longitudinal and transverse components of the linear velocity of the bow (υfx, υax) and aft (υax , υaypoints of the vessel in the moving coordinate system ZX0Y associated with the vessel, calculated taking into account the impact on the vessel during maneuvering.
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